MOTION CONTROL OF AN OMNIDIRECTIONAL MOBILE ROBOT

Xiang Li; Andreas Zell

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Paper

MOTION CONTROL OF AN OMNIDIRECTIONAL MOBILE ROBOT

Topics: Mobile Robots and Autonomous Systems

In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO, 125-132, 2007 , Angers, France

Authors: Xiang Li and Andreas Zell

Affiliation: Wilhelm-Schickard-Institute, University of Tübingen, Germany

Keyword(s): Mobile robots and autonomous systems, system identification, actuator saturation, path following control.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

Abstract: This paper focuses on the motion control problem of an omnidirectional mobile robot. A new control method based on the inverse input-output linearized kinematic model is proposed. As the actuator saturation and actuator dynamics have important impacts on the robot performance, this control law takes into account these two aspects and guarantees the stability of the closed-loop control system. Real-world experiments with an omnidirectional middle-size RoboCup robot verifies the performance of this proposed control algorithm.

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Paper citation in several formats:

Li, X. and Zell, A. (2007). MOTION CONTROL OF AN OMNIDIRECTIONAL MOBILE ROBOT. In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO; ISBN 978-972-8865-83-2; ISSN 2184-2809, SciTePress, pages 125-132. DOI: 10.5220/0001644801250132

@conference{icinco07,
author={Xiang Li. and Andreas Zell.},
title={MOTION CONTROL OF AN OMNIDIRECTIONAL MOBILE ROBOT},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO},
year={2007},
pages={125-132},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001644801250132},
isbn={978-972-8865-83-2},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO
TI - MOTION CONTROL OF AN OMNIDIRECTIONAL MOBILE ROBOT
SN - 978-972-8865-83-2
IS - 2184-2809
AU - Li, X.
AU - Zell, A.
PY - 2007
SP - 125
EP - 132
DO - 10.5220/0001644801250132
PB - SciTePress